/*
 * VERSION: SCS-1.0.1
 * DATE:    2013.Sep.1
 * AUTHOR:  Yu Kunlin
 */

#ifndef _SIMULATION_H_
#define _SIMULATION_H_

#include <ode/common.h>

extern dWorldID world;
extern dSpaceID space;
extern dJointGroupID contactgroup;

extern int MotorDutyL;
extern int MotorDutyR;
extern int ServoDir;
extern int MotorDutyL;
extern int MotorDutyR;
extern double AngularSpeedL;
extern double AngularSpeedR;
extern int ServoDir;
extern double Mu;
extern double Slip;
extern double CurrentStepTime;

void ResetSimulation();
void DestroySimulation();
void step(double stepsize);

#endif
